Willie, being a seafaring dog, might enjoy this (true) story ...
Our last dog enjoyed visits to, and trips aboard, our prior boat. When we anchored out overnight, she had her own bed and would wake early in the morning, letting me know she wanted to "go". I'd hop in the dinghy (she got there first), and would either motor to shore or, if we were rafted with other boats, I'd row. I'd pull up to shore, either a beach or some rocks, she'd reluctantly hop out and proceed not to do anything. She'd hop back in the dinghy, and we'd return to the boat.
It took a number of such trips to realize she really wanted a dinghy ride. Although she was paranoid of water, the dinghy was "her boat", and she'd stand on the bow like a hood ornament.